A Self-organizing Perimeter Defense Strategy for Swarms under Limited Perception

ZOU Bingyun; JIANG Liwei; PENG Xingguang

doi:10.12382/bgxb.2025.0577

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A Self-organizing Perimeter Defense Strategy for Swarms under Limited Perception

更新时间：2026-06-16

- A Self-organizing Perimeter Defense Strategy for Swarms under Limited Perception
- Acta Armamentarii Vol. 47, Issue 5, Pages: 250577(2026)
- 作者机构：
  
  西北工业大学航海学院，陕西西安 710072
  中国船舶集团有限公司系统工程研究院，北京 100094
  西北工业大学宁波研究院，浙江宁波 315103
- 作者简介：
- 基金信息：
- DOI：10.12382/bgxb.2025.0577
  CLC： TP273
- Received：30 June 2025，
  
  Online First：09 March 2026，
  
  Published：2026-05
- 稿件说明：
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ZOU Bingyun, JIANG Liwei, PENG Xingguang. A Self-organizing Perimeter Defense Strategy for Swarms under Limited Perception[J]. Acta Armamentarii, 2026, 47(5): 250577.
DOI：

ZOU Bingyun, JIANG Liwei, PENG Xingguang. A Self-organizing Perimeter Defense Strategy for Swarms under Limited Perception[J]. Acta Armamentarii, 2026, 47(5): 250577. DOI： 10.12382/bgxb.2025.0577.

摘要

针对通信受限、高动态环境下无人集群边界防御中攻击者序列高效拦截问题，提出一种基于有限感知的集群自组织防御策略。该策略无需显式通信与中心式指控，防御个体仅依赖局部方位及距离量测信息进行分布式决策。通过理论推导确定完全覆盖边界所需的最小防御数量，支撑系统部署；面向防御个体视角构建目标选择机制，结合相对距离、方位及密集程度评估威胁态势，并利用占优可达集划分规避选择冲突；引入马尔可夫链模型实现边界均匀覆盖策略与入侵拦截策略的自适应切换，平衡即时拦截与边界覆盖。仿真表明，在攻击者数量显著多于防御者时，该策略仍能稳定拦截攻击序列，当防御规模且攻击间隔适中时，拦截成功率可达95%以上；相较分区式最大路径算法拦截效率更高，且在中等规模优势更明显。在椭圆与圆角矩形等规则边界下性能稳定；在S型机动攻击下效率有所下降，但可通过增加防御规模与覆盖密度进行补偿，体现出良好的鲁棒性与可扩展性。

Abstract

To address the problem of efficient interception of sequential intrusions in the perimeter defense of unmanned swarms under communication constraints and highly dynamic environments，this paper proposes a swarm self-organizing defense strategy based on limited perception. The proposed strategy requires neither explicit inter-agent communication nor centralized command and control；instead，each defender makes distributed decisions using only local measurement information of relative bearing and distance. The minimum number of defenders required to fully cover the perimeter is derived through theoretical analysis，providing guidance for deployment. A target-selection mechanism is developed from the perspective of individual-defender，the threat levels are evaluatd using relative distance，relative bearing and local density，and the conflicts are mitigated through dominant reachable-set partitioning. In addition，a Markov-chain model is introduced to enable the adaptive switching between uniform perimeter-coverage and intrusion-interception behaviors，balancing the immediate interception performance with perimeter integrity. Simulated results demonstrate that the proposed strategy can be used to stably intercept the sequential attacks even when the number of attackers is significantly larger than that of defenders；the interception success rate exceeds 95% under the conditions of moderate defender scale and attack-release intervals. Compared with partition-based longest-path algorithms，it has higher interception efficiency and shows more pronounced advantages in medium swarm sizes. The strategy also maintains stable performance under regular noncircular boundaries such as ellipses and rounded rectangles. Although the interception efficiency decreases under S-shaped maneuvering attacks，the performance loss can be compensated by increasing the number of defenders and perimeter coverage density，which indicates the strong robustness and scalability of the strategy.

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references

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